(2)在主窗口中通过读取图片，可以获得所要标定的照片。
　(3)获取角点。程序运行界面如图5所示。程序标定结果如下：

        %--Focal length:
    fc=[3463.194803808018200;3807.341090056066200];
        %--Principal point:
    CC=[1633.861831663415600;1394.235351077526500];
               %--Skew coeffICient:
         alpha_c=0.000000000000000;
               %--Distortion coefficients:
        kc=[-0.208188511841198;0.035081678657317;0.0023875
81735940;0.000491712255333;0.000000000000000];
               %-- Focal length uncertainty:
      fc_error=[260.123743256455500;284.746622601852150];
         %--Principal point uncertainty:
     cc_error=[36.917650368224287;47.589021356646775];
               %--Skew coefficient uncertainty:
     alpha_c_error=0.000000000000000;
               %--Distortion coefficients uncertainty:
    kc_error=[0.031723675208984;0.077972615251388; 0.002
023682615518;0.001567520438212;0.000000000000000];
               %--Image size:
        nx=3280;
       ny=2460;
               %--Various other variables (may be ignored if you do not use the Matlab Calibration Toolbox):
               %--Those variables are used to control which intrinsic parameters should be optimized
    n_ima=12;
        %Number of calibration images
        est_fc=[1;1];    
        %Estimation inDICator of the two focal variables
        est_aspect_ratio=1;
        % Estimation indicator of the aspect ratio fc(2)/fc(1)
       center_optim=1;
        % Estimation indicator of the principal point
         est_alpha=0;
        % Estimation indicator of the skew coefficient
        est_dist=[1;1;1;1;0];
        %Estimation indicator of the distortion coefficientspoint
       est_alpha=0;        
        % Estimation indicator of the skew coefficient
    est_dist=[1;1;1;1;0];
        % Estimation indicator of the distortion coefficients
    从实验可以看出，使用MATLAB中的标定工具箱可以很快地得到标定结果，操作简单易懂，可视化效果好，对结果误差、畸变等可以图像的方式显示。
参考文献
[1] 张广军.视觉测量[M].北京:科学出版社,2008.
[2] 吴福朝.计算机视觉中的数学方法[M]. 北京:科学出版社,2008.
[3] ROGER Y. TSAI. A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses[J]. IEEE Journal of  robotics and automation, 1987,RA-3(4):323-344.
[4] TSAI R Y. An efficient and accurate camera calibration technique for 3D machine vision[M]. Proc. of IEEE Conference of computer Vision and Pattern Recognition, 1986：364-374.
[5] ZHANG Z Y. Flexible camera calibration by viewing a plane from unknown orientations[C].In: Proceedings of the International Conference on Computer Vision (ICCV’99),1999：666-673.
[6] 靳志光,卫建东,张冠宇,等.基于LCD的相机标定新方法[J].遥感应用, 2008,1:87-90.
[7] Meng Xiaoqiao, Hu Zhanyi. A new easy camera calibration technique based on circular points[J]. pattern recognition, 2003,36(5):1155-1164.
[8] WU Y H, ZHU H J, HU Z Y, et al. Camera calibration from the quasi-affine invariance of two parallel circles[C]. In Proc. European Conference on Computer Vision(ECCV’2004), 2004,I:190-202.
[9] 徐德,赵晓光,涂志国，等.基于单特征点的手眼系统摄像机标定[J].IEEE Transtration on Pattern Analysis and Machine Intelligence, 2000,22(11):1330-1334.

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